RTC::DataFlowComponentBase Class Reference

DataFlowComponentBase class. More...

#include <DataFlowComponentBase.h>

Inheritance diagram for RTC::DataFlowComponentBase:

Collaboration diagram for RTC::DataFlowComponentBase:

Public Member Functions
	DataFlowComponentBase (Manager *manager)
	Constructor.
	~DataFlowComponentBase () override
	Destructor.
void	init ()
	Initialization.
Public Member Functions inherited from RTC::RTObject_impl
	RTObject_impl (Manager *manager)
	Constructor.
	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
	Constructor.
	~RTObject_impl () override
	Virtual destructor.
ReturnCode_t	initialize () override
	[CORBA interface] Initialize the RTC that realizes this interface.
ReturnCode_t	finalize () override
	[CORBA interface] Finalize the RTC for destruction
ReturnCode_t	exit () override
	[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.
CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context) override
	[CORBA interface] Confirm whether RTC is the alive state
ExecutionContext_ptr	get_context (UniqueId ec_id) override
	[CORBA interface] Get ExecutionContext.
ExecutionContextList *	get_owned_contexts () override
	[CORBA interface] Get ExecutionContextList.
ExecutionContextList *	get_participating_contexts () override
	[CORBA interface] Get participating ExecutionContextList.
ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt) override
	[CORBA interface] Return a handle of a ExecutionContext
UniqueId	attach_context (ExecutionContext_ptr exec_context) override
	[CORBA interface] Attach ExecutionContext
UniqueId	bindContext (ExecutionContext_ptr exec_context)
ReturnCode_t	detach_context (UniqueId ec_id) override
	[CORBA interface] Detach ExecutionContext.
ComponentProfile *	get_component_profile () override
	[RTObject CORBA interface] Get RTC's profile
PortServiceList *	get_ports () override
	[RTObject CORBA interface] Get Ports
ReturnCode_t	on_initialize () override
	[ComponentAction CORBA interface] Initialize RTC
ReturnCode_t	on_finalize () override
	[ComponentAction CORBA interface] Finalize RTC
ReturnCode_t	on_startup (UniqueId ec_id) override
	[ComponentAction CORBA interface] Startup RTC
ReturnCode_t	on_shutdown (UniqueId ec_id) override
	[ComponentAction CORBA interface] Shutdown RTC
ReturnCode_t	on_activated (UniqueId ec_id) override
	[ComponentAction CORBA interface] Activate RTC
ReturnCode_t	on_deactivated (UniqueId ec_id) override
	[ComponentAction CORBA interface] Deactivate RTC
ReturnCode_t	on_aborting (UniqueId ec_id) override
	[ComponentAction CORBA interface] Transition to Error State
ReturnCode_t	on_error (UniqueId ec_id) override
	[ComponentAction CORBA interface] Error Processing of RTC
ReturnCode_t	on_reset (UniqueId ec_id) override
	[ComponentAction CORBA interface] Resetting RTC
ReturnCode_t	on_execute (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
ReturnCode_t	on_state_update (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
ReturnCode_t	on_rate_changed (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Notify rate changed
SDOPackage::OrganizationList *	get_owned_organizations () override
	[SDO interface] Get Organization list
char *	get_sdo_id () override
	[SDO interface] Get the SDO ID
char *	get_sdo_type () override
	[SDO interface] Get SDO type
SDOPackage::DeviceProfile *	get_device_profile () override
	[SDO interface] Get SDO DeviceProfile list
SDOPackage::ServiceProfileList *	get_service_profiles () override
	[SDO interface] Get SDO ServiceProfile
SDOPackage::ServiceProfile *	get_service_profile (const char *id) override
	[SDO interface] Get specified ServiceProfile
SDOPackage::SDOService_ptr	get_sdo_service (const char *id) override
	[SDO interface] Get specified SDO Service's reference
SDOPackage::Configuration_ptr	get_configuration () override
	[SDO interface] Get Configuration object
SDOPackage::Monitoring_ptr	get_monitoring () override
	[SDO interface] Get Monitoring object
SDOPackage::OrganizationList *	get_organizations () override
	[SDO interface] Get Organization list
SDOPackage::NVList *	get_status_list () override
	[SDO interface] Get SDO Status list
CORBA::Any *	get_status (const char *name) override
	[SDO interface] Get SDO Status
const char *	getInstanceName ()
	[local interface] Get instance name
void	setInstanceName (const char *instance_name)
	[local interface] Set instance name
const char *	getTypeName ()
	[local interface] Get type name
const char *	getDescription ()
	[local interface] GetDescription
const char *	getVersion ()
	[local interface] Get version information
const char *	getVendor ()
	[local interface] Get vendor
const char *	getCategory ()
	[local interface] Get category information
std::vector< std::string >	getNamingNames ()
	[local interface] Get Naming Server information
void	setObjRef (RTObject_ptr rtobj)
	[local interface] Set the object reference
RTObject_ptr	getObjRef () const
	[local interface] Get the object reference
void	setProperties (const coil::Properties &prop)
	[local interface] Set RTC property
coil::Properties &	getProperties ()
	[local interface] Get RTC property
template<typename VarType >
bool	bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
	Setup for configuration parameters.
ConfigAdmin &	getConfigService ()
	Getting configuration service.
void	updateParameters (const char *config_set)
	Update configuration parameters (by ID)
bool	addPort (PortBase &port)
	[local interface] Register Port
bool	addPort (PortService_ptr port)
	[local interface] Register Port
bool	addPort (CorbaPort &port)
	[local interface] Register Port
void	registerPort (PortBase &port)
	[local interface] Register Port
void	registerPort (PortService_ptr port)
	[local interface] Register Port
void	registerPort (CorbaPort &port)
	[local interface] Register Port
bool	addInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort
const std::vector< InPortBase * > &	getInPorts () const
const std::vector< OutPortBase * > &	getOutPorts () const
void	registerInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort
bool	addOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort
void	registerOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort
bool	removeInPort (InPortBase &inport)
	[local interface] Unregister InPort
bool	removeOutPort (OutPortBase &outport)
	[local interface] Unregister OutPort
bool	removePort (PortBase &port)
	[local interface] Unregister Port
bool	removePort (PortService_ptr port)
	[local interface] Unregister Port
bool	removePort (CorbaPort &port)
	[local interface] Unregister Port
void	deletePort (PortBase &port)
	[local interface] Unregister Port
void	deletePort (PortService_ptr port)
	[local interface] Unregister Port
void	deletePort (CorbaPort &port)
	[local interface] Unregister Port
void	deletePortByName (const char *port_name)
	[local interface] Delete Port by specifying its name
ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)
	[local interface] Getting current execution context
double	getExecutionRate (RTC::UniqueId ec_id)
	[local interface] Getting current context' execution rate
ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)
	[local interface] Setting current context' execution rate
ReturnCode_t	deactivate (RTC::UniqueId ec_id)
	[local interface] Make transition to Inactive state
ReturnCode_t	activate (RTC::UniqueId ec_id)
	[local interface] Make transition to Active state
ReturnCode_t	reset (RTC::UniqueId ec_id)
	[local interface] Resetting and go to Inactive state
bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
	[local interface] Set a SDO service provider
bool	removeSdoServiceProvider (const char *id)
	[local interface] Remove a SDO service provider
bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
	[local interface] Set a SDO service provider
bool	removeSdoServiceConsumer (const char *id)
	[local interface] Remove a SDO service provider
void	removeSdoServiceConsumerStartThread (const char *id)
	[local interface] Remove a SDO service provider
bool	readAll ()
	Readout the value from All InPorts.
bool	writeAll ()
	The write() method of all OutPort is called.
void	setReadAll (bool read=true, bool completion=false)
	Set whether to execute the readAll() method.
void	setWriteAll (bool write=true, bool completion=false)
	Set whether to execute the writeAll() method.
void	finalizePorts ()
	Unregister All Ports.
void	finalizeContexts ()
	The ExecutionContextBase list is deleted.
void	setINSObjRef (RTC::LightweightRTObject_ptr obj)
void	addPreComponentActionListener (PreCompActionListenerType listener_type, PreCompActionListener *listener, bool autoclean=true)
template<class Listener >
PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
	Removing PreComponentAction type listener.
void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
template<class Listener >
PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
	Removing PostComponentAction type listener.
void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
	Adding PortAction type listener.
template<class Listener >
PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
	Removing PortAction type listener.
void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
template<class Listener >
ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
	Removing ExecutionContextAction type listener.
void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
	Adding PortConnect type listener.
template<class Listener >
PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
	Removing PortConnect type listener.
void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
	Adding PortConnectRet type listener.
template<class Listener >
PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
	Removing PortConnectRet type listener.
void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
	Adding ConfigurationParamListener.
template<class Listener >
ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
	Removing ConfigurationParamListener.
void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
	Adding ConfigurationSetListener.
template<class Listener >
ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
	Removing ConfigurationSetListener.
void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
	Adding ConfigurationSetNameListener.
template<class Listener >
ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
	Removing ConfigurationSetNameListener.
void	addPreFsmActionListener (PreFsmActionListenerType listener_type, PreFsmActionListener *listener, bool autoclean=true)
	Adding PreFsmAction type listener.
template<class Listener >
PreFsmActionListener *	addPreFsmActionListener (PreFsmActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *state))
void	removePreFsmActionListener (PreFsmActionListenerType listener_type, PreFsmActionListener *listener)
	Removing PreFsmAction type listener.
void	addPostFsmActionListener (PostFsmActionListenerType listener_type, PostFsmActionListener *listener, bool autoclean=true)
	Adding PostFsmAction type listener.
template<class Listener >
PostFsmActionListener *	addPostFsmActionListener (PostFsmActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *state, ReturnCode_t ret))
void	removePostFsmActionListener (PostFsmActionListenerType listener_type, PostFsmActionListener *listener)
	Removing PostFsmAction type listener.
void	addFsmProfileListener (FsmProfileListenerType listener_type, FsmProfileListener *listener, bool autoclean=true)
	Adding FsmProfile type listener.
template<class Listener >
FsmProfileListener *	addFsmProfileListener (FsmProfileListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void	removeFsmProfileListener (FsmProfileListenerType listener_type, FsmProfileListener *listener)
	Removing FsmProfile type listener.
void	addFsmStructureListener (FsmStructureListenerType listener_type, FsmStructureListener *listener, bool autoclean=true)
	Adding FsmStructure type listener.
template<class Listener >
FsmStructureListener *	addFsmStructureListener (FsmStructureListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void	removeFsmStructureListener (FsmStructureListenerType listener_type, FsmStructureListener *listener)
	Removing FsmStructure type listener.
void	preOnInitialize (UniqueId ec_id)
void	preOnFinalize (UniqueId ec_id)
void	preOnStartup (UniqueId ec_id)
void	preOnShutdown (UniqueId ec_id)
void	preOnActivated (UniqueId ec_id)
void	preOnDeactivated (UniqueId ec_id)
void	preOnAborting (UniqueId ec_id)
void	preOnError (UniqueId ec_id)
void	preOnReset (UniqueId ec_id)
void	preOnExecute (UniqueId ec_id)
void	preOnStateUpdate (UniqueId ec_id)
void	preOnRateChanged (UniqueId ec_id)
void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)
void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)
void	postOnError (UniqueId ec_id, ReturnCode_t ret)
void	postOnReset (UniqueId ec_id, ReturnCode_t ret)
void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)
void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
void	onAddPort (const PortProfile &pprof)
void	onRemovePort (const PortProfile &pprof)
void	onAttachExecutionContext (UniqueId ec_id)
void	onDetachExecutionContext (UniqueId ec_id)
void	preOnFsmInit (const char *state)
void	preOnFsmEntry (const char *state)
void	preOnFsmDo (const char *state)
void	preOnFsmExit (const char *state)
void	preOnFsmStateChange (const char *state)
void	postOnFsmInit (const char *state, ReturnCode_t ret)
void	postOnFsmEntry (const char *state, ReturnCode_t ret)
void	postOnFsmDo (const char *state, ReturnCode_t ret)
void	postOnFsmExit (const char *state, ReturnCode_t ret)
void	postOnFsmStateChange (const char *state, ReturnCode_t ret)

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
using	PreCompActionListener = PreComponentActionListener
	Adding PreComponentAction type listener.
using	PreCompActionListenerType = PreComponentActionListenerType
using	PostCompActionListener = PostComponentActionListener
	Adding PostComponentAction type listener.
using	PostCompActionListenerType = PostComponentActionListenerType
using	ECActionListenerType = ExecutionContextActionListenerType
	Adding ExecutionContextAction type listener.
using	ECActionListener = ExecutionContextActionListener
Static Public Member Functions inherited from RTC::RTObject_impl
static bool	isOwnExecutionContext (RTC::UniqueId ec_id)
	[local interface] Checking if the current context is own context
Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onInitialize ()
	Callback function to initialize.
virtual ReturnCode_t	onFinalize ()
	Callback function to finalize.
virtual ReturnCode_t	onStartup (RTC::UniqueId ec_id)
	Callback function for startup action.
virtual ReturnCode_t	onShutdown (RTC::UniqueId ec_id)
	Callback function for shutdown action.
virtual ReturnCode_t	onActivated (RTC::UniqueId ec_id)
	Callback function to activate.
virtual ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
	Callback function to deactivate.
virtual ReturnCode_t	onExecute (RTC::UniqueId ec_id)
	Callback function to execute periodically.
virtual ReturnCode_t	onAborting (RTC::UniqueId ec_id)
	Callback function to abort.
virtual ReturnCode_t	onError (RTC::UniqueId ec_id)
	Callback function for error handling.
virtual ReturnCode_t	onReset (RTC::UniqueId ec_id)
	Callback function to reset.
virtual ReturnCode_t	onStateUpdate (RTC::UniqueId ec_id)
	Callback function to update the state.
virtual ReturnCode_t	onRateChanged (RTC::UniqueId ec_id)
	Callback function to change execution cycle.
void	shutdown ()
	Shutdown RTC This operation ececutes RTC's termination. This unregisters all Ports, deactivates corresponding CORBA objects and shuts down RTC. This is called from onlu finlize().
ReturnCode_t	initMineEC ()
	Initialize my EC This function initializes mine ECs. This is called from only initialize().
void	startMineEC ()
	Starting my EC This function start mine ECs. This is called from only initialize().
void	finalizeMineEC ()
	Finalize my EC This function finalize mine ECs. This is called from only exit().
void	finalizeOtherEC ()
	Finalize my EC This function detaching the RTC from others' ECs. This is called from only exit().
ReturnCode_t	getInheritedECOptions (coil::Properties &default_opts)
	Get inherited EC options This function getting inherited EC options. This is called from only initMineEC().
ReturnCode_t	getPrivateContextOptions (std::vector< coil::Properties > &ec_args)
	getting individual EC options from RTC's configuration file
ReturnCode_t	getGlobalContextOptions (coil::Properties &global_ec_props)
	getting global EC options from rtc.conf
ReturnCode_t	getContextOptions (std::vector< coil::Properties > &ec_args)
	getting EC options
ReturnCode_t	createContexts (std::vector< coil::Properties > &ec_args)
	creating, initializing and binding context
void	initSdoService ()
	initialize SDO service stuff This function calles SdoService's initialize().
Static Protected Member Functions inherited from RTC::RTObject_impl
static ReturnCode_t	findExistingEC (coil::Properties &ec_arg, RTC::ExecutionContextBase *&ec)
	fiding existing EC from the factory
Protected Attributes inherited from RTC::RTObject_impl
Logger	rtclog
	Logger stream .
Manager *	m_pManager
	Manager object .
CORBA::ORB_var	m_pORB
	The pointer to the ORB .
PortableServer::POA_var	m_pPOA
	The pointer to the POA .
SDOPackage::OrganizationList	m_sdoOwnedOrganizations
	SDO owned organization list .
SDOPackage::Configuration_impl *	m_pSdoConfigImpl
	The pointer to the SDO Configuration Object .
SDOPackage::Configuration_var	m_pSdoConfig
	The pointer to the SDO Configuration Interface .
SDOPackage::OrganizationList	m_sdoOrganizations
	SDO organization .
SDOPackage::NVList	m_sdoStatus
	SDO Status .
ComponentProfile	m_profile
	ComponentProfile .
RTObject_var	m_objref
	Object reference .
PortAdmin	m_portAdmin
	List of Port Object reference .
std::vector< InPortBase * >	m_inports
	List of InPortBase* .
std::vector< OutPortBase * >	m_outports
	List of OutPortBase* .
ExecutionContextServiceList	m_ecMine
	List of owned ExecutionContextService .
std::vector< ExecutionContextBase * >	m_eclist
	List of ExecutionContextBase .
ExecutionContextServiceList	m_ecOther
	List of participating ExecutionContextService .
bool	m_created
	Created Status Flag .
bool	m_exiting
	RTC Finalize Status Flag .
coil::Properties	m_properties
	RTC's Property .
ConfigAdmin	m_configsets
	Configuration Administrator Object .
SdoServiceAdmin	m_sdoservice
	SDO Service Administrator Object .
bool	m_readAll
	flag for readAll()
bool	m_writeAll
	flag for writeAll()
bool	m_readAllCompletion
	flag for readAll()
bool	m_writeAllCompletion
	flag for writeAll()
ComponentActionListeners	m_actionListeners
	ComponentActionListener holder.
PortConnectListeners	m_portconnListeners
	PortConnectListener holder.
FsmActionListeners	m_fsmActionListeners
	ComponentActionListener holder.
RTC::LightweightRTObject_var	m_insref
SdoServiceConsumerTerminator *	m_sdoconterm

Detailed Description

DataFlowComponentBase class.

This is a base class of the data flow type RT-Component. Inherit this class when implementing various data flow type RT-Components.

Since

0.4.0

Constructor & Destructor Documentation

DataFlowComponentBase()

RTC::DataFlowComponentBase::DataFlowComponentBase ( Manager * manager )

explicit

Constructor.

Constructor

Parameters

manager

Manager object

~DataFlowComponentBase()

RTC::DataFlowComponentBase::~DataFlowComponentBase ( )

override

Destructor.

Destructor

Member Function Documentation

init()

void RTC::DataFlowComponentBase::init

(

)

Initialization.

Initialization the data flow type RT-Component. Write the actual initialization code in each concrete class.

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The documentation for this class was generated from the following file:

• DataFlowComponentBase.h